Good morning guys! Frist of all, thanks for all the help you've spread on this forum. I'ts really very helpful and you can learn a lot from it.
I did some searching on the forum and don't find anything related to my problem, which is:
I have a KRC1 robot V4.1, a fronius analog TIG welding machine (MagicWave 3000) and a wirefeeder (KD7000). The robot comunicates throwgh device net to a beckhoff module, and then wire-to-wire to the controller of the fronius (KD connection box). I managed to feed the wire correctly but, at the end of the seam, the wire is retracted too late and gets stucked to the seam, so when the robot goes away from the seam you can see how the wire brakes becouse the robot is pulling away. What I need is some to change the code, so it retracts the wire some time before. Specifically, I was thinking on retracting when the robot stops to do the "end of seam" routine, to refill the crater and the post gas.
I just get lost on the code and can't figure out how to solve this.
Thanks in advance for your time and wisdom!